diff --git a/src/modules/mavlink/mavlink_command_sender.cpp b/src/modules/mavlink/mavlink_command_sender.cpp
index 11e34248b8..cc9b49b2a8 100644
--- a/src/modules/mavlink/mavlink_command_sender.cpp
+++ b/src/modules/mavlink/mavlink_command_sender.cpp
@@ -112,7 +112,7 @@ int MavlinkCommandSender::handle_vehicle_command(const struct vehicle_command_s
 }
 
 void MavlinkCommandSender::handle_mavlink_command_ack(const mavlink_command_ack_t &ack,
-		uint8_t from_sysid, uint8_t from_compid)
+		uint8_t from_sysid, uint8_t from_compid, uint8_t channel)
 {
 	CMD_DEBUG("handling result %d for command %d (from %d:%d)",
 		  ack.result, ack.command, from_sysid, from_compid);
@@ -124,7 +124,8 @@ void MavlinkCommandSender::handle_mavlink_command_ack(const mavlink_command_ack_
 		// Check if the incoming ack matches any of the commands that we have sent.
 		if (item->command.command == ack.command &&
 		    from_sysid == item->command.target_system &&
-		    from_compid == item->command.target_component) {
+		    from_compid == item->command.target_component &&
+		    item->num_sent_per_channel[channel] != -1) {
 			// Drop it anyway because the command seems to have arrived at the destination, even if we
 			// receive IN_PROGRESS because we trust that it will be handled after that.
 			_commands.drop_current();
diff --git a/src/modules/mavlink/mavlink_command_sender.h b/src/modules/mavlink/mavlink_command_sender.h
index 5e2d174930..fd7a0d98ee 100644
--- a/src/modules/mavlink/mavlink_command_sender.h
+++ b/src/modules/mavlink/mavlink_command_sender.h
@@ -81,7 +81,8 @@ public:
 	 * Handle mavlink command_ack.
 	 * thread-safe
 	 */
-	void handle_mavlink_command_ack(const mavlink_command_ack_t &ack, uint8_t from_sysid, uint8_t from_compid);
+	void handle_mavlink_command_ack(const mavlink_command_ack_t &ack, uint8_t from_sysid, uint8_t from_compid,
+					uint8_t channel);
 
 private:
 	MavlinkCommandSender() = default;
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 818d0c0a45..f5550354d5 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -524,7 +524,7 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 	mavlink_command_ack_t ack;
 	mavlink_msg_command_ack_decode(msg, &ack);
 
-	MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
+	MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel());
 
 	vehicle_command_ack_s command_ack = {};
 	command_ack.timestamp = hrt_absolute_time();